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feat(obstacle_stop_planner): removed default parameters #772

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feat(obstacle_stop_planner): removed default parameters #772

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@takayuki5168 takayuki5168 commented Apr 23, 2022 •
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Signed-off-by: Takayuki Murooka [email protected]

Description

The default parameters of declare_parameter in node is tricky since if the parameter name in config files has some typo, the default parameter will be used instead of the parameter in config file.

Just to verify this PR working well #770, I removed default parameters only in obstacle_stop_planner.

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@takayuki5168 takayuki5168 force-pushed the feature/remove-default-parameters-in-obstacle-stop branch from 08e5fd6 to e0fa9a5 Compare April 23, 2022 09:09
@takayuki5168 takayuki5168 changed the title Removed default parameters of declare_parameter in obstacle_stop_planner feat(obstacle_stop_planner): Removed default parameters of declare_parameter Apr 23, 2022
@takayuki5168 takayuki5168 mentioned this pull request Apr 23, 2022
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@takayuki5168 takayuki5168 requested a review from tkimura4 April 23, 2022 09:14
@takayuki5168 takayuki5168 changed the title feat(obstacle_stop_planner): Removed default parameters of declare_parameter feat(obstacle_stop_planner): Removed default parameters of declare parameter Apr 23, 2022
@takayuki5168 takayuki5168 changed the title feat(obstacle_stop_planner): Removed default parameters of declare parameter feat(obstacle_stop_planner): Removed default parameters Apr 23, 2022
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Codecov Report

Merging #772 (4700291) into main (c092de0) will decrease coverage by 0.02%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #772      +/-   ##
========================================
- Coverage   9.53%   9.51%   -0.03%     
========================================
  Files        931     931              
  Lines      57663   57786     +123     
  Branches   10401   10401              
========================================
  Hits        5500    5500              
- Misses     47636   47759     +123     
  Partials    4527    4527
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 9.53% <0.00%> (ø) Carriedforward from c092de0

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files Coverage Δ
...er/src/scene_module/avoidance/avoidance_module.cpp 0.00% <0.00%> (ø)
...tacle_stop_planner/src/adaptive_cruise_control.cpp 0.00% <0.00%> (ø)
planning/obstacle_stop_planner/src/node.cpp 0.00% <0.00%> (ø)

Continue to review full report at Codecov.

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h-ohta referenced this pull request in h-ohta/autoware.universe Apr 26, 2022
@1222-takeshi @isamu-takagi
@mitsudome-r @tkimura4 @kenji-miyake @wep21 @yukkysaito @nnmm @TakaHoribe @esteve @sgermanserrano @taikitanaka3 @sgk-000 @kmiya @KeisukeShima @satoshi-ota @tkhmy @yamacir-kit @takayuki5168 @k0suke-murakami @YamatoAndo @pre-commit-ci
feat: add TierIV messages (#4)
c0dbdfe 
* Initial commit

* release v0.4.0

* Feature/stop reason (#712)

* add stop reason msg

* add mock of stop resaon publisher

* change namespace of stop reason

* update stop reason msg

* add toRosPoint

* implement stop reason publisher of blind stop

* implement stop reason publisher of crosswalk

* implement stop reason publisher of intersection

* implement stop reason publisher of stop line

* implement stop reason publisher of trafficlight

* implement stop reason publisher of detection area

* fix bug

* remove unnecessary process

* add remained stop factor

* clean code

* fix bug

* not punlish stop reason if array size is 0

* add stop reason to stuck object in intersection

* add stop factor of obstacle stop planner

* add stop reason of surround_obstacle checker

* Apply review

Signed-off-by: Kenji Miyake <[email protected]>

* fix message type

* delete unused message from cmake

* remove stopReasonStamped

* change topic name of stop reasons

Co-authored-by: Kenji Miyake <[email protected]>

* Support error in autoware state (#728)

* Support Error in autoware_state_monitor

Signed-off-by: Kenji Miyake <[email protected]>

* Refactor autoware_state_monitor

Signed-off-by: Kenji Miyake <[email protected]>

* Wait after planning completed

Signed-off-by: Kenji Miyake <[email protected]>

* Integrate FailedToArriveGoal and Error into Emergency state

Signed-off-by: Kenji Miyake <[email protected]>

* Publish tl states stamped (#744)

* Add TrafficLightStateStamped.msg

Signed-off-by: wep21 <[email protected]>

* Use msg instead of struct

Signed-off-by: wep21 <[email protected]>

* Publish traffic light state

Signed-off-by: wep21 <[email protected]>

* Check if lamp state is empty

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Apply clang-format

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Cosmetic change

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Revert "Publish tl states stamped (#744)" (#771)

This reverts commit 35a7e29e987afb29d9348b5f64866a584a65f753.

* Fix/publish tl state stamped (#772)

* Publish tl states stamped (#744)

* Add TrafficLightStateStamped.msg

Signed-off-by: wep21 <[email protected]>

* Use msg instead of struct

Signed-off-by: wep21 <[email protected]>

* Publish traffic light state

Signed-off-by: wep21 <[email protected]>

* Check if lamp state is empty

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Apply clang-format

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Cosmetic change

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Use dynamic pointer cast

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Feature/add stop reason lane change (#769)

* add stop reason of lane change planner

* add stop factor of blocked by obstacle

* delete typo

* add const

* delete unnecessary namespace

* remove ROS1 packages temporarily

Signed-off-by: mitsudome-r <[email protected]>

* add sample ros2 packages

Signed-off-by: mitsudome-r <[email protected]>

* Add ros2 perception msgs

Signed-off-by: wep21 <[email protected]>

* fix dependency issue in autoware_control_msgs (#22)

Signed-off-by: mitsudome-r <[email protected]>

* Port vehicle_cmd_gate to ROS2 (#3)

* Port vehicle_cmd_gate to ROS2

* Sim-time-respecting timer

* add autoware_debug_msg (#54)

* add autoware_debug_msg

Signed-off-by: Takamasa Horibe <[email protected]>

* rename to *stamped

Signed-off-by: Takamasa Horibe <[email protected]>

* Fix format version (#73)

* port motion_velocity_optimizer (#77)

* port motion_velocity_optimizer

Signed-off-by: Takamasa Horibe <[email protected]>

* fix for warning

Signed-off-by: Takamasa Horibe <[email protected]>

* fix blockUntilVehiclePositionAvailable()

Signed-off-by: Takamasa Horibe <[email protected]>

* Port of obstacle avoidance planner to ROS2 (#83)

* Port to ROS2

Signed-off-by: Servando German Serrano <[email protected]>

* Removed ros/console include

Signed-off-by: Servando German Serrano <[email protected]>

* Added THROTTLE

Signed-off-by: Servando German Serrano <[email protected]>

* Changed numbers to floats

Signed-off-by: Servando German Serrano <[email protected]>

* Removed <double> from params

Signed-off-by: Servando German Serrano <[email protected]>

* Added new msg

Signed-off-by: Servando German Serrano <[email protected]>

* Use new msg

Signed-off-by: Servando German Serrano <[email protected]>

* Replaced dynamic reconfigure

Signed-off-by: Servando German Serrano <[email protected]>

* Added EnableAvoidance.msg

Signed-off-by: Servando German Serrano <[email protected]>

* Fixed parameter mismatch

Signed-off-by: Servando German Serrano <[email protected]>

* Port behavior_velocity_planner to ROS2 (#80)

* Revert "Add geometry2 to repos (#76)"

This reverts commit 6d22704.

* Automatic parts of the package port

* Interesting part

* Fix typo in package.xml

* Review comments

* Child logger names

* Document logging duration

Co-authored-by: Ryohsuke Mitsudome <[email protected]>

* Ros2 v0.8.0 awapi and system msgs (#274)

* Ros2 v0.8.0 engage (#342)

* [autoware_vehicle_msgs]: Add engage message

Signed-off-by: wep21 <[email protected]>

* [as]: Update message

Signed-off-by: wep21 <[email protected]>

* [awapi_awiv_adapter]: Update message

Signed-off-by: wep21 <[email protected]>

* [web_controller]: Update message

Signed-off-by: wep21 <[email protected]>

* [vehicle_cmd_gate]: Update message

Signed-off-by: wep21 <[email protected]>

* [autoware_state_monitor]: Update message

Signed-off-by: wep21 <[email protected]>

* [autoware_control_msgs]: Remove EngageMode message

Signed-off-by: wep21 <[email protected]>

* [simple_planning_simulator]: Update message

Signed-off-by: wep21 <[email protected]>

* Ros2 v0.8.0 lane_change_planner (#322)

* Remove lane_change_planner v0.5

Signed-off-by: Takagi, Isamu <[email protected]>

* Import lane_change_planner v0.8 (ROS1)

Signed-off-by: Takagi, Isamu <[email protected]>

* Modify header files

* Remove header disable

* Modify msg namespace

* Modify time type

* Modify pub/sub class

* Modify node handle, etc.

* Modify ConstPtr

* Modify entry point

* Modify time and publisher

* Modify parameter, timer, and subscription

* Modify data manager

* Modify route handler

* Modify state machine

* Modify utility

* Fix arguments

* Modify states part1

* Modify states part2

* Modify common function

* Fix for lint

* Fix for lint

* Modify comment type

* Add copyright

* Use duration from_seconds

* Use double quotes for non-system headers

* Fix include order

Signed-off-by: Takagi, Isamu <[email protected]>

* Replace std_msgs Bool

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix line length

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix latch topic subscription

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix stamp initialization and reference

Signed-off-by: Takagi, Isamu <[email protected]>

* Add super class destructor and fix waitForData

Signed-off-by: Takagi, Isamu <[email protected]>

* Ros2 v0.8.0 remove std msgs awapi (#348)

* [autoware_vehicle_msgs] add BatteryStatus msg

Signed-off-by: mitsudome-r <[email protected]>

* [autoware_planning_msgs] add ExpandStopRange and StopSpeedExceeded messages

Signed-off-by: mitsudome-r <[email protected]>

* [autoware_api_msgs] add DoorControlCommand, StopCommand, and VelocityLimit messages

Signed-off-by: mitsudome-r <[email protected]>

* remove std_msgs related to autoware_awaiv_adapter node

Signed-off-by: mitsudome-r <[email protected]>

* apply ament_uncrustify

Signed-off-by: mitsudome-r <[email protected]>

* fix build failure

Signed-off-by: mitsudome-r <[email protected]>

* fix test failures

Signed-off-by: mitsudome-r <[email protected]>

* address review commends

Signed-off-by: mitsudome-r <[email protected]>

* Sync with Ros2 v0.8.0 beta (#393)

* add nullptr check when publish concatenate data (#369)

* Add warning msg when concat pointcloud is not published (#388)

Signed-off-by: Kenji Miyake <[email protected]>

* add timeout notification stamp msgs (#363)

* add timeout notification stamp msgs

* fix uncursify

* delete timeout notification stamped

* Revert "delete timeout notification stamped"

This reverts commit 365d29209f6a7f5ec75eb80c5d8c2ef38daeae79.

* fix message

Co-authored-by: Taichi Higashide <[email protected]>
Co-authored-by: taikitanaka3 <[email protected]>

* modify pose_initialize for foa  (#382)

* pose_initialize for foa (autowarefoundation#1171)

* pose_initialize for foa

Signed-off-by: Yamato ANDO <[email protected]>

* rename topic

Signed-off-by: Yamato ANDO <[email protected]>

* fix topic name

Signed-off-by: mitsudome-r <[email protected]>

* Add autoware version node (#394)

* Add autoware version node

Signed-off-by: Takagi, Isamu <[email protected]>

* Remove todo

Signed-off-by: Takagi, Isamu <[email protected]>

* Remove unused variable

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix node name

Signed-off-by: Takagi, Isamu <[email protected]>

* fix typo (#427)

* Fix typo in common module (#433)

* Unify Apache-2.0 license name (autowarefoundation#1242)

* Porting remote cmd selector (autowarefoundation#1286)

* Feature/add remote cmd selector (autowarefoundation#1179)

* Add in/out args of remote_cmd_converter.launch

Signed-off-by: Kenji Miyake <[email protected]>

* Change remote input topic of vehicle_cmd_gate

Signed-off-by: Kenji Miyake <[email protected]>

* Add msgs for remote_cmd_selector

Signed-off-by: Kenji Miyake <[email protected]>

* Add remote_cmd_selector

Signed-off-by: Kenji Miyake <[email protected]>

* Rename remote_cmd_selector to external_cmd_selector

Signed-off-by: Kenji Miyake <[email protected]>

* Remove VehicleCommand support in autoware_joy_controller

Signed-off-by: Kenji Miyake <[email protected]>

* Support external_cmd_source in autoware_joy_controller.launch (autowarefoundation#1194)

Signed-off-by: Kenji Miyake <[email protected]>

* Fix porting miss

Signed-off-by: Kenji Miyake <[email protected]>

* fix missing function

* modify xml format

* fix include guard

* add callback group

* modify remap name

* Revert "modify remap name"

This reverts commit 169cc8d28442825b1d61b0439b9892c913304527.

* change topic name

* use rclcpp_component

* Remove autoware_debug_msgs from autoware_joy_controller

Signed-off-by: Kenji Miyake <[email protected]>

* Change default mode of autoware_joy_controller

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>

* Add perception traffic light state output (autowarefoundation#1302)

* Add perception traffic light state output

Signed-off-by: Takagi, Isamu <[email protected]>

* Modify message type

Signed-off-by: Takagi, Isamu <[email protected]>

* Apply message type to relay

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix msgs (autowarefoundation#1379)

* Fix msgs

Signed-off-by: Kenji Miyake <[email protected]>

* [autoware_planning_rviz_plugin]: Fix lint

Signed-off-by: wep21 <[email protected]>

Co-authored-by: wep21 <[email protected]>

* Message refinement (autowarefoundation#1381)

* Message refinement

* Simplify CMakeLists.txt with ament cmake auto

* Add test

Signed-off-by: wep21 <[email protected]>

* [autoware_planning_msgs]: Fix dependency

Signed-off-by: wep21 <[email protected]>

* Fix package.xml

Signed-off-by: wep21 <[email protected]>

* Fix package.xml

Signed-off-by: Kenji Miyake <[email protected]>

* Fix ament_cmake_auto

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>

* Ros2/create/external commands (autowarefoundation#1299)

* add remote message

* add remote commands

* fix topic

* remove unnecessary topic

* remove unused topic

* add external cmd instead

* ToExternalComd

* fix topic in joy con

* publish perception and external tl_state for mlops (autowarefoundation#1350) (autowarefoundation#1375)

* publish perception and external tl_state for mlops

* fix tl_state time stamp

Co-authored-by: satoshi-ota <[email protected]>

Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>

* Add newlines

Signed-off-by: Kenji Miyake <[email protected]>

* Add PR template (#3)

* Add PR template

Signed-off-by: Kenji Miyake <[email protected]>

* Update PULL_REQUEST_TEMPLATE.md

* Add CI (#4)

Signed-off-by: Kenji Miyake <[email protected]>

* change msg type looking traffic light state (autowarefoundation#1455) (#6)

* change msg type looking traffic light state

* fix msg name

* using namespace

* change function name

* fix typo

* add readme

* Update awapi/awapi_awiv_adapter/Readme.md

fix typo

Co-authored-by: Yukihiro Saito <[email protected]>

Co-authored-by: Yukihiro Saito <[email protected]>

Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>

* Fix dependency type of rosidl_default_generators (#15)

Signed-off-by: Kenji Miyake <[email protected]>

* Add auto-main-sync CI workflow for develop (#16)

Signed-off-by: Kenji Miyake <[email protected]>

* add autoware_api_msgs (#12)

Signed-off-by: mitsudome-r <[email protected]>

* Feature/add virtual traffic light planner (#9)

* Add VIRTUAL_TRAFFIC_LIGHT to StopReason.msg

Signed-off-by: Kenji Miyake <[email protected]>

* Add VirtualTrafficLightState msgs to autoware_system_msgs

Signed-off-by: Kenji Miyake <[email protected]>

* Add InfrastructureCommand msgs to autoware_planning_msgs

Signed-off-by: Kenji Miyake <[email protected]>

* Fix msgs

Signed-off-by: Kenji Miyake <[email protected]>

* Move messages to autoware_v2x_msgs

Signed-off-by: Kenji Miyake <[email protected]>

* Fix dependency type of rosidl_default_generators

Signed-off-by: Kenji Miyake <[email protected]>

* Fix dependency type of rosidl_default_generators (#19)

* Change CI docker images to setup-ros-docker (#20)

* Change CI docker images to setup-ros-docker

Signed-off-by: Kenji Miyake <[email protected]>

* Replace foxy with galactic

Signed-off-by: Kenji Miyake <[email protected]>

* Add DEBIAN_FRONTEND=noninteractive to rosdep install (#21)

Signed-off-by: Kenji Miyake <[email protected]>

* Update colcon-package-selection in build_and_test_pr.yml (#22)

Signed-off-by: Kenji Miyake <[email protected]>

* add autoware_simulation_msgs (#13)

* add autoware_simulation_msgs

* update event name

* Add autoware api (#29)

* add autoware multimedia msgs

Signed-off-by: tkhmy <[email protected]>

* add newline

Signed-off-by: tkhmy <[email protected]>

* change name to autoware_hmi_msgs

Signed-off-by: tkhmy <[email protected]>

* Rename external select message (#8)

* Rename external select message

Signed-off-by: Takagi, Isamu <[email protected]>

* Add selector mode to unknown

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix selector mode constant

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix format

Signed-off-by: Takagi, Isamu <[email protected]>

* Move control command messages to external api

Signed-off-by: Takagi, Isamu <[email protected]>

* Add build dependency

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix CI

Signed-off-by: Takagi, Isamu <[email protected]>

Co-authored-by: tkhmy <[email protected]>

* Fix CI for develop branch (#31)

Signed-off-by: Kenji Miyake <[email protected]>

* add emergency_holding flag to HazardStatus (#25)

* add EmergencyState.msg (#32)

* Add new workflow `sync-public.yaml` to sync with `AutowareArchitectureProposal_msgs` (#35)

* Add new workflow `sync-public.yaml` to sync with `AutowareArchitectureProposal_msgs`

* Remove this workflow specific comments

* Remove some this workflow specific comments

* Rename `oss` to `public`

* Replace branch name `main` to more generic description

* Add line `fetch-depth: 0` (#36)

* Add EmergencyStateStamped.msg (#38)

Signed-off-by: Kenji Miyake <[email protected]>

* Add sync-public-develop.yaml (#42)

Signed-off-by: Kenji Miyake <[email protected]>

* Change proposal sync app ID (#44)

Signed-off-by: Kenji Miyake <[email protected]>

* add MultiArrayDimension/Layout, and update MultiArrayMsgs (#28)

* add MultiArrayDimension/Layout, and update MultiArrayMsgs

* add kind of license

* Feature/vehicle interface improvements (autowarefoundation#1361) (#48)

* add vehicle msg

* add pacmod interface

* add eps controller

* use each control commands instead of vehicle command

* fixed details

* fixed speell check

* const

* fixed brake status

* publish cmd when recieving ctrl cmd

* fix shift cmd ptr

* remove unused function and set proper license

* fix names

* fix typo for pacmod

* remove unnecessary waiting

* use flags, limit, multiarray

* remove accel brake dependency

* fix retrun value

* replace eps to steer

* cosmetic change for namespace

* fix segfo and retval

* Use Enum instead of int

* remove unused var

* add const

* rename to calcFFMap

* prev time steer calc

* add sample csv

* add new line

Signed-off-by: wep21 <[email protected]>

Co-authored-by: taikitanaka3 <[email protected]>

* remove EmergencyMode and DricingCapability (#33)

* develop -> main sync (#53)

* Add detected object with feature (#54)

* Add detected object with feature

Signed-off-by: wep21 <[email protected]>

* add autoware_auto_msgs

Co-authored-by: wep21 <[email protected]>

* Revert "Add detected object with feature (#54)" (#57)

This reverts commit 3fcfe9936361928256ed5ffa7d8a1ef4c978ca09.

* Add detected object with feature (#54) (#59) (#4)

* Add detected object with feature (#54) (#59)

* Add detected object with feature

Signed-off-by: wep21 <[email protected]>

* add autoware_auto_msgs

Co-authored-by: wep21 <[email protected]>

Co-authored-by: wep21 <[email protected]>

* update build depends

Co-authored-by: wep21 <[email protected]>

* Add message converter (#58)

* Add message converter

* Move autoware state converter

* add VehicleEmergency (#55)

* Add two convert method (#64)

* add convert method from iv_shift to auto_gear

Signed-off-by: kosuke murakami <[email protected]>

* remove space

Signed-off-by: kosuke murakami <[email protected]>

* add convert method from for turn & hazard signal

Signed-off-by: kosuke murakami <[email protected]>

* fix dependency of iv_auto_msgs converter (#8)

Co-authored-by: Takayuki Murooka <[email protected]>

* move actuation msg (#66)

* Revert "move actuation msg (#66)"

This reverts commit d8e3ccdcabacab819360cf399442950cc162a648.

* merge autoware_localization_srvs to autoware_localization_msgs

* rename pose_with_cov to pose_with_covariance

* add steering wheel status stamped

* fix: remove workflow and PR_TEMPLATE

* fix: remove autoware_api_msgs dependency

* ci(pre-commit): autofix

Co-authored-by: Takagi, Isamu <[email protected]>
Co-authored-by: mitsudome-r <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Daisuke Nishimatsu <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>
Co-authored-by: wep21 <[email protected]>
Co-authored-by: Ryohsuke Mitsudome <[email protected]>
Co-authored-by: Nikolai Morin <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: Esteve Fernandez <[email protected]>
Co-authored-by: Servando <[email protected]>
Co-authored-by: Taichi Higashide <[email protected]>
Co-authored-by: taikitanaka3 <[email protected]>
Co-authored-by: Shigeki Kobayashi <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>
Co-authored-by: Keisuke Shima <[email protected]>
Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>
Co-authored-by: Keisuke Shima <[email protected]>
Co-authored-by: tkhmy <[email protected]>
Co-authored-by: Tatsuya Yamasaki <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: Kah Hooi Tan <[email protected]>
Co-authored-by: Kosuke Murakami <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: tanaka3 <[email protected]>
Co-authored-by: YamatoAndo <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
h-ohta referenced this pull request in h-ohta/autoware.universe Apr 26, 2022
@tkimura4 @mitsudome-r
@kenji-miyake @TakaHoribe @rej55 @wep21 @yukkysaito @kmiya @nnmm @nik-tier4 @k0suke-murakami @isamu-takagi @taikitanaka3 @taichiH @vios-fish @adamdbrw @satoshi-ota @h-ohta @KeisukeShima @takayuki5168 @mkuri @maxime-clem @tier4-autoware-private-bot @1222-takeshi @IshitaTakeshi @purewater0901 @kyoichi-sugahara @s-murakami-esol @yukke42 @miursh @0x126 @aohsato @j4tfwm6z
feat: add behavior_velocity_planner package (#27)
b9e7df0 
* release v0.4.0

* Fix typo (#700)

Signed-off-by: Kenji Miyake <[email protected]>

* Fix detection area (#701)

* Replace calcDistance with calcSignedDistance

Signed-off-by: Kenji Miyake <[email protected]>

* Add STOP state

Signed-off-by: Kenji Miyake <[email protected]>

* intersection: change detection area length parameter from 100m to 200m (#702)

Signed-off-by: Takamasa Horibe <[email protected]>

* intersection: fix stuck vehicle behavior (#695)

Signed-off-by: Takamasa Horibe <[email protected]>

* Feature/intersection use spline interpolation library (#710)

* Use spline_interpolation module

* Remove debug messages

* Feature/stop reason (#712)

* add stop reason msg

* add mock of stop resaon publisher

* change namespace of stop reason

* update stop reason msg

* add toRosPoint

* implement stop reason publisher of blind stop

* implement stop reason publisher of crosswalk

* implement stop reason publisher of intersection

* implement stop reason publisher of stop line

* implement stop reason publisher of trafficlight

* implement stop reason publisher of detection area

* fix bug

* remove unnecessary process

* add remained stop factor

* clean code

* fix bug

* not punlish stop reason if array size is 0

* add stop reason to stuck object in intersection

* add stop factor of obstacle stop planner

* add stop reason of surround_obstacle checker

* Apply review

Signed-off-by: Kenji Miyake <[email protected]>

* fix message type

* delete unused message from cmake

* remove stopReasonStamped

* change topic name of stop reasons

Co-authored-by: Kenji Miyake <[email protected]>

* Fix/stop reason (#724)

* input stop reason of traffic light

* add comment

* add empty traffic light handling

* change calculation method of traffic light position

* avoid 0 position output

* Fix/spline interpolation in intersection module (#726)

* Remove duplicating sample points

* Change isValidInput

* Apply clang-format

* Fix convergence check in PCG

* fix clac signed distance bug (#733)

* intersection: ignore stop plane when path[0] is in detection area (#739)

Signed-off-by: Takamasa Horibe <[email protected]>

* Publish tl states stamped (#744)

* Add TrafficLightStateStamped.msg

Signed-off-by: wep21 <[email protected]>

* Use msg instead of struct

Signed-off-by: wep21 <[email protected]>

* Publish traffic light state

Signed-off-by: wep21 <[email protected]>

* Check if lamp state is empty

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Apply clang-format

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Cosmetic change

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* update visualization marker (#759)

* fix stack area (#758)

* dont check pointcloud (#765)

Signed-off-by: Yukihiro Saito <[email protected]>

* fix stop factor of merge_from_private_area (#749)

* Revert "Publish tl states stamped (#744)" (#771)

This reverts commit 35a7e29e987afb29d9348b5f64866a584a65f753.

* fix intersection bug (#773)

* fix bug

* fix bug

* change uid of marker (#775)

* Fix/publish tl state stamped (#772)

* Publish tl states stamped (#744)

* Add TrafficLightStateStamped.msg

Signed-off-by: wep21 <[email protected]>

* Use msg instead of struct

Signed-off-by: wep21 <[email protected]>

* Publish traffic light state

Signed-off-by: wep21 <[email protected]>

* Check if lamp state is empty

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Apply clang-format

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Cosmetic change

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Use dynamic pointer cast

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Fix blind spot areas and logic for creating a stop line (#732)

* Fix blind spot areas

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Change logic for creating a stop line

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Do not add marker when marker is empty

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Cosmetic change

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Return boost optional for first conflict point

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Return boost optional for intersection start point

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Apply clang

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Fix/intersection stuck detect area (#764)

* fix stuck-vehicle detection area in intersection module

* separate vehicle param

* change the way ouf start idx count

* change param

* avoid to input -1 index (#777)

* add dead line and pass through when over dead line (#784)

* Add arg for input tl topic name (#783)

Signed-off-by: wep21 <[email protected]>

* change margin to 1.0m (#790)

Signed-off-by: Yukihiro Saito <[email protected]>

* fix insert target point bug (#798)

* fix typo stop_liine to stop_line (#799)

Signed-off-by: Takamasa Horibe <[email protected]>

* traffic light scene module : fix bug and change param (#800)

* fix bug (passs judge line)

Signed-off-by: Yukihiro Saito <[email protected]>

* bug fix

Signed-off-by: Yukihiro Saito <[email protected]>

* change param

Signed-off-by: Yukihiro Saito <[email protected]>

* Intersection add debug comment (#803)

* blind spot : modify debug comment

Signed-off-by: Takamasa Horibe <[email protected]>

* merge from private road : modify debug comment

Signed-off-by: Takamasa Horibe <[email protected]>

* intersection : modify debug comment

Signed-off-by: Takamasa Horibe <[email protected]>

* intersection util: modify generateStopLine() for debug

Signed-off-by: Takamasa Horibe <[email protected]>

* add comment

Signed-off-by: Takamasa Horibe <[email protected]>

* Fix intersection preceeding lane query (#807)

* modified interseciton module to add lanelets in intersection to objective lanelets due to change in getPreceedingLaneletSequences()

Signed-off-by: mitsudome-r <[email protected]>

* update comment

Signed-off-by: mitsudome-r <[email protected]>

* Fix blind spot area (#806)

* Fix blind spot area

Signed-off-by: wep21 <[email protected]>

* Use range based for

Signed-off-by: wep21 <[email protected]>

* Use std::unique to remove adjacent duplicates

Signed-off-by: wep21 <[email protected]>

* Use generateFineCenterline

Signed-off-by: wep21 <[email protected]>

* Fix detection area start point

Signed-off-by: wep21 <[email protected]>

* Revert "Use generateFineCenterline"

This reverts commit 9d4f46bf65d7296b9286b30dfeed217a566a815c.

* Fix centerline of half lanelet

Signed-off-by: wep21 <[email protected]>

* Fix area start point

Signed-off-by: wep21 <[email protected]>

* Revert "fix insert target point bug (#798)" (#815)

This reverts commit 12eac2023538531e28a85a8914305cb534499f29.

* Fix/traffic light state (#801)

* fix bug (passs judge line)

Signed-off-by: Yukihiro Saito <[email protected]>

* bug fix

Signed-off-by: Yukihiro Saito <[email protected]>

* change param

Signed-off-by: Yukihiro Saito <[email protected]>

* bug fix : remove stop state

Signed-off-by: Yukihiro Saito <[email protected]>

* add lower limit

Signed-off-by: Yukihiro Saito <[email protected]>

* change param (#821)

Signed-off-by: Yukihiro Saito <[email protected]>

* stopline: parametrize check distance (#825)

Signed-off-by: Takamasa Horibe <[email protected]>

* Check if lanelets are sequential (#823)

Signed-off-by: wep21 <[email protected]>

* fix uninitialized variables (#816)

* Parameterization for calculating judge line distance (#831)

Signed-off-by: wep21 <[email protected]>

* remove ROS1 packages temporarily

Signed-off-by: mitsudome-r <[email protected]>

* Revert "remove ROS1 packages temporarily"

This reverts commit 96b63e981899f79f2f5c6a6377e9600cc278e233.

Signed-off-by: mitsudome-r <[email protected]>

* add COLCON_IGNORE to ros1 packages

Signed-off-by: mitsudome-r <[email protected]>

* Rename launch files to launch.xml (#28)

* Port behavior_velocity_planner to ROS2 (#80)

* Revert "Add geometry2 to repos (#76)"

This reverts commit 6d2270476aaafdf1a8098d700d52a508525ea04b.

* Automatic parts of the package port

* Interesting part

* Fix typo in package.xml

* Review comments

* Child logger names

* Document logging duration

Co-authored-by: Ryohsuke Mitsudome <[email protected]>

* [ROS2] Fix behavior velocity planner (#110)

* install launch and config folders

Signed-off-by: mitsudome-r <[email protected]>

* port launch file

Signed-off-by: mitsudome-r <[email protected]>

* fix config files

Signed-off-by: mitsudome-r <[email protected]>

* improve vehicle_info_utils to enable multiple declaration of VehicleInfo objects

Signed-off-by: mitsudome-r <[email protected]>

* fix sementation fault

Signed-off-by: mitsudome-r <[email protected]>

* Convert calls of Duration to Duration::from_seconds where appropriate (#131)

* Rename h files to hpp (#142)

* Change includes

* Rename files

* Adjustments to make things compile

* Other packages

* Adjust copyright notice on 532 out of 699 source files (#143)

* Use quotes for includes where appropriate (#144)

* Use quotes for includes where appropriate

* Fix lint tests

* Make tests pass hopefully

* Run uncrustify on the entire Pilot.Auto codebase (#151)

* Run uncrustify on the entire Pilot.Auto codebase

* Exclude open PRs

* fixing trasient_local in ROS2 packages (#160)

* Enable cppcheck lints in behavior_velocity_planner (#159)

* Enable lints in behavior_velocity_planner

* Fix package.xml

* Make launch files load vehicle model params dependent on argument (#228)

* Make vehicle_model configurable in behavior_velocity_planner

* Make vehicle_model configurable in vehicle_cmd_gate

* change from vehicle_model to vehicle_param_file (#242)

Signed-off-by: kosuke murakami <[email protected]>

* Ros2 v0.8 fix typo of "preceding" (#323)

* Fix typo of getPrecedingLaneletSequences

* Fix comment

* Ros2 v0.8.0 behavior velocity planner (#332)

* restore behavior velocity planner files for v0.8.0 update

* Fix detection area (#808)

* Remove PASS state

Signed-off-by: Kenji Miyake <[email protected]>

* Keep stopping after going over dead-line in STOP state

Signed-off-by: Kenji Miyake <[email protected]>

* Clear state after obstacle disappears

Signed-off-by: Kenji Miyake <[email protected]>

* Parameterize and change conditions

Signed-off-by: Kenji Miyake <[email protected]>

* Refactor

Signed-off-by: Kenji Miyake <[email protected]>

* add elapsed time checker

* Refactor

Signed-off-by: Kenji Miyake <[email protected]>

* Ignore inserting point if points are too close

Signed-off-by: Kenji Miyake <[email protected]>

* Rename NORMAL to GO

Signed-off-by: Kenji Miyake <[email protected]>

* Revert "Ignore inserting point if points are too close"

This reverts commit 91c8d620ea11e703611945cb9a50877d175f4ff6.

* Fix small bug

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: taichiH <[email protected]>

* fix timing of publish stop reason of stop_line (#845)

* fix timing of publish stop reason of stop_line

* Fix formatting

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>

* Fix task registration of detection area module (#856)

* Fix task registration of detection area module

Signed-off-by: Kenji Miyake <[email protected]>

* Fix id of factor_text marker

Signed-off-by: Kenji Miyake <[email protected]>

* Do not interpolate if path size is 1 (#865)

* Revert "restore behavior velocity planner files for v0.8.0 update"

This reverts commit ce07d3c2bfae562d56fec46c4f81d5351fd936a1.

* fix some implement miss

* restore behavior velocity planner files for v0.8.0 update

* change intersection param (#861)

* Fix/intersection stop line (#841)

* add trimmed path function

* fix typo

* avoid to insert stop line outside intersection

* Add pass judge flag (#872)

* Add pass judge flag

Signed-off-by: wep21 <[email protected]>

* Fix wrong format

Signed-off-by: wep21 <[email protected]>

* Fix flag order in judge condition

Signed-off-by: wep21 <[email protected]>

* add ignore width with blind spot (#864)

* add ignore width with blind spot

* remove unused function

* fix typo

* fix margin

* remove bicycle from intersection stuck vehicle (#896)

* Revert "restore behavior velocity planner files for v0.8.0 update"

This reverts commit ff61ee56f2ce4728e53eb698836db60d68bf64b9.

* fix implement miss

* restore behavior velocity planner files for v0.8.0 update (fixed)

* Add external traffic light input (#912)

* Add external traffic light input

Signed-off-by: wep21 <[email protected]>

* Update topic namespace

* Fix typos in planning modules (#866)

* fix typos in planning

* fix corresponding typos in planning

* revert fixed typos temporarily due to its impact on launchers

* add exception handling to intersection module (#920)

* add exception handling

* output input path

* prevent passthrough chattering (#901)

Signed-off-by: Yukihiro Saito <[email protected]>

* cosnider current_velocity to calculate intersection passing time (#880)

* cosnider current_velocity to calculate intersection passing time

* add fabs to current velocity

* Improve stuck vehicle detect (#824)

* intersection: modify stuck vehicle detect logic to consider the object shape

Signed-off-by: Takamasa Horibe <[email protected]>

* intersection: consider ego-vehicle length when calculate stuck vehicle detection area

Signed-off-by: Takamasa Horibe <[email protected]>

* intersection: change param stuck_vehicle_ignore_dist: 5.0 -> 7.0

Signed-off-by: Takamasa Horibe <[email protected]>

* intersection: use vehicle_info/vehicle_length

Signed-off-by: Takamasa Horibe <[email protected]>

* fix implement miss

* fix target pedestrian (#927)

Signed-off-by: Yukihiro Saito <[email protected]>

* fix insert backward point (#953)

* fix insert backward point

* add comment

Signed-off-by: Kosuke Murakami <[email protected]>

* remove unnecessary if

Signed-off-by: Kosuke Murakami <[email protected]>

* Add stop line referred from road marking (#968)

* Add stop line referred from road marking

Signed-off-by: wep21 <[email protected]>

* Add stop line for walkway

Signed-off-by: wep21 <[email protected]>

* Feature/external input (#982)

* add external input msg

* impl external input(crosswalk, intersection)

* :put_litter_in_its_place:

* change to ++14

* fix bug

* fix bug

* cosmetic change

* Revert "restore behavior velocity planner files for v0.8.0 update"

This reverts commit ff61ee56f2ce4728e53eb698836db60d68bf64b9.

* Fix typo (#1013)

Signed-off-by: Kenji Miyake <[email protected]>

* Fix/blind spot insert point (#1027)

* Copy insert point from previous point

* Reset path unless state is stop

Signed-off-by: wep21 <[email protected]>

* change slow down speed (#1030)

* restore behavior velocity planner files for v0.8.0 update (fixed)

* Fix/walkway stop judge range (#1028)

* Fix walkway stop judge

Signed-off-by: wep21 <[email protected]>

* Make refer id same

Signed-off-by: wep21 <[email protected]>

* fix getObjectivePolygons() so that intersecting lanelet is added to objective lanelets even when there is no preceeding lanelets (#1010)

Signed-off-by: mitsudome-r <[email protected]>

* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"

This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.

* fix implement miss for marker

* restore behavior velocity planner files for v0.8.0 update (fixed)

* Fix/blind spot polygon (#1056)

* Fix detection area for blind spot

Signed-off-by: wep21 <[email protected]>

* Apply clang format

Signed-off-by: wep21 <[email protected]>

* Shrink conflicting area

Signed-off-by: wep21 <[email protected]>

* chane slowdown judgement (#1066)

* chane slowdown judgement

* cosmetic change

* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"

This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.

* fixed for ros2 style

* restore behavior velocity planner files for v0.8.0 update (fixed)

* Remove unused headers in behavior_velocity_planner (#1072)

* publish walkway stop reason (#1073)

* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"

This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.

* restore behavior velocity planner files for v0.8.0 update (fixed)

* Add correspondence marker of detection_area and stop_line (#1081)

* Fix comment

Signed-off-by: Kenji Miyake <[email protected]>

* Add const

Signed-off-by: Kenji Miyake <[email protected]>

* Add correspondence marker of detection_area and stop_line

Signed-off-by: Kenji Miyake <[email protected]>

* Add obstacle marker

Signed-off-by: Kenji Miyake <[email protected]>

* Fixup

Signed-off-by: Kenji Miyake <[email protected]>

* Add id marker

Signed-off-by: Kenji Miyake <[email protected]>

* Clear state when time rollback found

Signed-off-by: Kenji Miyake <[email protected]>

* Fix typo

Signed-off-by: Kenji Miyake <[email protected]>

* change stop to polygon line

* apply clang format

* fix code

* fix bug

Co-authored-by: taichiH <[email protected]>

* Fix pass judge idx (#1090)

Signed-off-by: wep21 <[email protected]>

* fix bug (#1087)

* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"

This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.

* fix for ros2 style

* restore behavior velocity planner files for v0.8.0 update (fixed)

* Fix/remove duplicated point (#1107)

* Split PoseDeviaiton functions

Signed-off-by: Kenji Miyake <[email protected]>

* Remove unnecessary pose

Signed-off-by: Kenji Miyake <[email protected]>

* Don't insert point if duplicated point exists

Signed-off-by: Kenji Miyake <[email protected]>

* Fix condition of duplicated points

Signed-off-by: Kenji Miyake <[email protected]>

* seperate stop distance param (#1137)

* seperate stop distance param

Signed-off-by: Kosuke Murakami <[email protected]>

* apply param for automotically generated stop line

Signed-off-by: Kosuke Murakami <[email protected]>

* shift slow down line

Signed-off-by: Kosuke Murakami <[email protected]>

* add param in yaml file

Signed-off-by: Kosuke Murakami <[email protected]>

* fix prediction_time_margin bug (#1148)

* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"

This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.

* fix ros2 style

* remove deprecated

* reformat

* add test temporary launch

* cpp_lint_namespace_what_you_use

* lint_comment_line_length

* pass ament cpplint

* fixe commit

* fix code

* remove unneccesary

* fix param structure

* fix missng params

* fix throttle time

Co-authored-by: tomoya.kimura <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: taichiH <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Fumiya Watanabe <[email protected]>
Co-authored-by: Daisuke Nishimatsu <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: Kosuke Murakami <[email protected]>
Co-authored-by: Ryohsuke Mitsudome <[email protected]>

* Rename ROS-related .yaml to .param.yaml (#352)

* Rename ROS-related .yaml to .param.yaml

Signed-off-by: Kenji Miyake <[email protected]>

* Remove prefix 'default_' of yaml files

Signed-off-by: Kenji Miyake <[email protected]>

* Rename vehicle_info.yaml to vehicle_info.param.yaml

Signed-off-by: Kenji Miyake <[email protected]>

* Rename diagnostic_aggregator's param files

Signed-off-by: Kenji Miyake <[email protected]>

* Fix overlooked parameters

Signed-off-by: Kenji Miyake <[email protected]>

* [behavior_velocity_planner]: Fix missing ros2 porting (#392)

Signed-off-by: wep21 <[email protected]>

* Fix error handling of tf lookupTransform (#405)

Co-authored-by: autoware <[email protected]>

* rm_std_msgs (#402)

* Sensor data qos (#407)

* Use sensor data qos for pointcloud preprocessor

Signed-off-by: Autoware <[email protected]>

* Use sensor data qos for pointcloud

Signed-off-by: Autoware <[email protected]>

* Fix lint

Signed-off-by: wep21 <[email protected]>

* Use sensor data qos for livox tag filter and vector map filter

Signed-off-by: wep21 <[email protected]>

* Fix lint

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Autoware <[email protected]>

* Ros2 fix topic name part1 (#408)

* Fix topic name of lane_departure_checker debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of mpc_follower debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of velocity_controller debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of motion_velocity_optimizer debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of lane_change_planner debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of behavior_velocity_planner debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of obstacle_avoidance_planner debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of behavior_velocity_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of motion_velocity_optimizer

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of lane_departure_checker

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of mpc_follower

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of behavior_velocity_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of velocity_controller

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of lane_change_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of obstacle_avoidance_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of obstacle_stop_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of costmap_generator

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of freespace_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of surround_obstacle_checker

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of costmap_generator

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of emergency_handler

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint errors

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix typo

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix typo in planning module (#432)

* Fix typo in planning module

* Fix remaining errors

Signed-off-by: Kenji Miyake <[email protected]>

* Apply cpplint and uncrustify.

Co-authored-by: Kenji Miyake <[email protected]>

* fix traffic light module (#458)

* change log type (#459)

* add use_sim-time option (#454)

* Fix rolling build errors (#1225)

* Add missing include files

Signed-off-by: Kenji Miyake <[email protected]>

* Replace rclcpp::Duration

Signed-off-by: Kenji Miyake <[email protected]>

* Use reference for exceptions

Signed-off-by: Kenji Miyake <[email protected]>

* Use from_seconds

Signed-off-by: Kenji Miyake <[email protected]>

* Sync public repo (#1228)

* [simple_planning_simulator] add readme (#424)

* add readme of simple_planning_simulator

Signed-off-by: Takamasa Horibe <[email protected]>

* Update simulator/simple_planning_simulator/README.md

* set transit_margin_time to intersect. planner (#460)

* Fix pose2twist (#462)

Signed-off-by: Takagi, Isamu <[email protected]>

* Ros2 vehicle info param server (#447)

* add vehicle_info_param_server

* update vehicle info

* apply format

* fix bug

* skip unnecessary search

* delete vehicle param file

* fix bug

* Ros2 fix topic name part2 (#425)

* Fix topic name of traffic_light_classifier

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of traffic_light_visualization

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of traffic_light_map_based_detector

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_recognition

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_classifier

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_classifier

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix issues in hdd_reader (#466)

* Fix some issues detected by Coverity Scan and Clang-Tidy

* Update launch command

* Add more `close(new_sock)`

* Simplify the definitions of struct

* fix: re-construct laneletMapLayer for reindex RTree (#463)

* Rviz overlay render fix (#461)

* Moved painiting in SteeringAngle plugin to update()

Signed-off-by: Adam Dabrowski <[email protected]>

* super class now back to MFD

Signed-off-by: Adam Dabrowski <[email protected]>

* uncrustified

Signed-off-by: Adam Dabrowski <[email protected]>

* acquire data in mutex

Signed-off-by: Adam Dabrowski <[email protected]>

* back to RTD as superclass

Signed-off-by: Adam Dabrowski <[email protected]>

* Rviz overlay render in update (#465)

* Moved painiting in SteeringAngle plugin to update()

Signed-off-by: Adam Dabrowski <[email protected]>

* super class now back to MFD

Signed-off-by: Adam Dabrowski <[email protected]>

* uncrustified

Signed-off-by: Adam Dabrowski <[email protected]>

* acquire data in mutex

Signed-off-by: Adam Dabrowski <[email protected]>

* removed unnecessary includes and some dead code

Signed-off-by: Adam Dabrowski <[email protected]>

* Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass

Signed-off-by: Adam Dabrowski <[email protected]>

* restored RTD superclass

Signed-off-by: Adam Dabrowski <[email protected]>

Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Takagi, Isamu <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>
Co-authored-by: Makoto Tokunaga <[email protected]>
Co-authored-by: Adam Dąbrowski <[email protected]>

* Unify Apache-2.0 license name (#1242)

* Make planning modules components (#1263)

Signed-off-by: wep21 <[email protected]>

* Remove use_sim_time for set_parameter (#1260)

Signed-off-by: wep21 <[email protected]>

* Refactor vehicle info util (#1305)

* Update license

Signed-off-by: Kenji Miyake <[email protected]>

* Refactor vehicle_info_util

Signed-off-by: Kenji Miyake <[email protected]>

* Rename and split files

Signed-off-by: Kenji Miyake <[email protected]>

* Fix interfaces

Signed-off-by: Kenji Miyake <[email protected]>

* Fix bug and add error handling

Signed-off-by: Kenji Miyake <[email protected]>

* Add "// namespace"

Signed-off-by: Kenji Miyake <[email protected]>

* Add missing include

Signed-off-by: Kenji Miyake <[email protected]>

* fix slow/stop marker color & stop reason (#1347) (#1354)

Co-authored-by: satoshi-ota <[email protected]>
Signed-off-by: wep21 <[email protected]>

Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>

* fix intersection stop line (#1272) (#1349)

* fix intersection stop line (#1272)

* fix intersection stop line

* fix comment

* Fix typo

Signed-off-by: wep21 <[email protected]>

Co-authored-by: tkimura4 <[email protected]>

* Avoid passing empty lanelets to getPolygonFromArcLength (#1371)

Signed-off-by: wep21 <[email protected]>

* Add perception traffic light state output (#1302)

* Add perception traffic light state output

Signed-off-by: Takagi, Isamu <[email protected]>

* Modify message type

Signed-off-by: Takagi, Isamu <[email protected]>

* Apply message type to relay

Signed-off-by: Takagi, Isamu <[email protected]>

* Feature/consider jerk limit in passjudge (#1339) (#1351)

* Feature/consider jerk limit in passjudge (#1339)

* make new branch for behavior velocity planner

* update implementation for considering accel & jerk limit

* refactoring

* change default params

* change default params

* change minimum velocity which decides to conduct pass judge

* remove ROS_DEBUG_COND()

* remove unnecessary variables

* fix lowpass filter implementation

* calc acceleration in planner_data_

Co-authored-by: satoshi-ota <[email protected]>

* Fix typo

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>

* Feature/refactor stop line module (#1343) (#1359)

* Refactor stop_line planner module

Signed-off-by: Kenji Miyake <[email protected]>

* Add document

Signed-off-by: Kenji Miyake <[email protected]>

* Fix English

Signed-off-by: Kenji Miyake <[email protected]>

* Fix

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>

* Feature/add stop duration ros2 (#1380)

* Feature/add stop duration (#1367)

* Add stop_duration to behavior_velocity_planner

Signed-off-by: Kenji Miyake <[email protected]>

* parameterize stop duration sec

* Use stop_duration in Stop Line module

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Hiroki OTA <[email protected]>
Signed-off-by: wep21 <[email protected]>

* Change default value

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Hiroki OTA <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>

* Fix topic name of external traffic light input (#1412)

* publish perception and external tl_state for mlops (#1350) (#1375)

* publish perception and external tl_state for mlops

* fix tl_state time stamp

Co-authored-by: satoshi-ota <[email protected]>

Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>

* Fix/traffic light planning module (#1424) (#1487)

* Fix/traffic light planning module (#1424)

* bug fix

* refactor

* refactor

* cosmetic change

* fix typo

* cosmetic change

* refactor

* remove unused func

* enable restart

* cosmetic change

* fix typo

* refactor

* bug fix

* cosmetic change

* modify debug_data

* Apply lint

Signed-off-by: wep21 <[email protected]>

* Remove unnecesarry comment

Signed-off-by: wep21 <[email protected]>

* Fix bug

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Yukihiro Saito <[email protected]>

* change msg type looking traffic light state (#1494)

* change msg type looking traffic light state (#1455)

* change msg type looking traffic light state

* fix msg name

* using namespace

* change function name

* fix typo

* add readme

* Update awapi/awapi_awiv_adapter/Readme.md

fix typo

Co-authored-by: Yukihiro Saito <[email protected]>

Co-authored-by: Yukihiro Saito <[email protected]>

* Remove deprecated message include

Signed-off-by: wep21 <[email protected]>

* Fix lint

Signed-off-by: wep21 <[email protected]>

Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>

* Add namespace to behavior_velocity_planner (#1542)

* Add namespace to behavior_velocity_planner

Signed-off-by: Kenji Miyake <[email protected]>

* Fix typo

Signed-off-by: Kenji Miyake <[email protected]>

* Avoid passing uninitialized index (#1609)

Signed-off-by: wep21 <[email protected]>

* suppress warnings  for behavior_velocity_planner (#1733)

* add Werror

* suppress warnings for stopline module

* fix for crosswalk

* fix for traffic light

* fix for detection area

* fix style

* use {}

* use auto

* Fix -Wunused-parameter (#1836)

* Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <[email protected]>

* Fix mistake

Signed-off-by: Kenji Miyake <[email protected]>

* fix spell

* Fix lint issues

Signed-off-by: Kenji Miyake <[email protected]>

* Ignore flake8 warnings

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Hiroki OTA <[email protected]>

* Fix compiler warnings (#1837)

* Fix -Wunused-private-field

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wunused-variable

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wformat-security

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Winvalid-constexpr

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wdelete-non-abstract-non-virtual-dtor

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wdelete-abstract-non-virtual-dtor

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Winconsistent-missing-override

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wrange-loop-construct

Signed-off-by: Kenji Miyake <[email protected]>

* Fix "invalid application of 'sizeof' to an incomplete type"

Signed-off-by: Kenji Miyake <[email protected]>

* Ignore -Wgnu-anonymous-struct and -Wnested-anon-types

Signed-off-by: Kenji Miyake <[email protected]>

* Fix lint

Signed-off-by: Kenji Miyake <[email protected]>

* Ignore -Wno-deprecated-declarations in CUDA-related packages

Signed-off-by: Kenji Miyake <[email protected]>

* Fix mistake

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <[email protected]>

* Add autoware api (#1979)

* Feature/add virtual traffic light planner (#1588)

* add sort-package-xml hook in pre-commit (#1881)

* add sort xml hook in pre-commit

* change retval to exit_status

* rename

* add prettier plugin-xml

* use early return

* add license note

* add tier4 license

* restore prettier

* change license order

* move local hooks to public repo

* move prettier-xml to pre-commit-hooks-ros

* update version for bug-fix

* apply pre-commit

* remove spline_interpolation, and create interpolation package that ha… (#2114)

* remove spline_interpolation and add interpolation package

* fix bugs and add simple test

* modify application for interpolation package

* add some tests and fix ci test

* add some tests

* add -Werror

* move functions to anonymous

* fix reviews

* fix typo

* fix review and lint

* add tests

* resolve TODOs

* add README.md

* Update common/math/interpolation/test/src/test_interpolation_utils.cpp

Co-authored-by: Kenji Miyake <[email protected]>

* Update common/math/interpolation/test/src/test_interpolation_utils.cpp

Co-authored-by: Kenji Miyake <[email protected]>

* Update common/math/interpolation/test/src/test_interpolation_utils.cpp

Co-authored-by: Kenji Miyake <[email protected]>

* fix README.md

* dealt with reviews

* update README.md

* update README.md

* Update common/math/interpolation/README.md

* fix some bugs

* fix typo

* update README.md

* Update common/math/interpolation/README.md

Co-authored-by: Kazuki Miyahara <[email protected]>

* fix test

* Update common/math/interpolation/README.md

Co-authored-by: Kazuki Miyahara <[email protected]>

* fix cdots

* fix README.md

* Update common/math/interpolation/README.md

Co-authored-by: Kazuki Miyahara <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>

* Sync develop/fix interpolation and speed up calculation (#2290)

* debug slope calculation in behavior (#1566) (#1727)

* debug slope calculation in behavior (#1566)

* update

* update

* revert change of autoware_utils

* define getPose in behavior_path_planner

* update

* update

* update

* update

* interpolate z in obstacle_avoidance_planner

* update velocity controller

* fix detection area and scene

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp

Co-authored-by: tkimura4 <[email protected]>

* update comment in velocity controller

* remove debug print

* update

Co-authored-by: tkimura4 <[email protected]>
Signed-off-by: wep21 <[email protected]>

* Fix typo

Signed-off-by: wep21 <[email protected]>

* Fix variable names

Signed-off-by: Kenji Miyake <[email protected]>

* Fix uncrustify

Signed-off-by: Kenji Miyake <[email protected]>

* Fix mistake

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>

* add underscore to marker namespace (#1785)

Co-authored-by: satoshi-ota <[email protected]>

* [obstacle_avoidance_planner] remove useless get nearest idx (#1851)

* modify velocity insertion in obstacle_avoidance_planner

Signed-off-by: Takamasa Horibe <[email protected]>

* [obstacle_avoidance_planner] reduce calculation cost in relative/absolute transformation (#1844)

* implement relative/absolute transformation without yaw but directly sin/cos of yaw

* rename: relative_p to absolute_p

* assigin point.z to rel/abs_z

* fix cpp-lint error

Co-authored-by: Daisuke Nishimatsu <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>

* fix argument order (#1502) (#1622)

Co-authored-by: satoshi-ota <[email protected]>

Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>

* Change param (#1559) (#1677)

Co-authored-by: Fumiya Watanabe <[email protected]>

* Feature/use spline module in behavior velocity planner (#1457) (#1495)

* Feature/use spline module in behavior velocity planner (#1457)

* Use spline_interpolation module

* Remove unused function

* Remove unused include

* Use autoware_utils

* Remove unused function

* Remove cubic_spline.hpp

* Fix error handling

* Fix interpolation of velocity

Signed-off-by: wep21 <[email protected]>

* change warning threshold (#1539)

Signed-off-by: Takamasa Horibe <[email protected]>

* Apply lint

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Fumiya Watanabe <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>

* Feature/porting behavior path planner (#1645)

* Add behavior path planner pkg with Lane Change (#1525)

* add lanelet extension funcs

Signed-off-by: Takamasa Horibe <[email protected]>

* add planning msgs for FOA

Signed-off-by: Takamasa Horibe <[email protected]>

* add behavior_path_planner pkg

Signed-off-by: Takamasa Horibe <[email protected]>

* apply clang format

Signed-off-by: Takamasa Horibe <[email protected]>

* add error handling for config load failure

Signed-off-by: Takamasa Horibe <[email protected]>

* replace word: foa with remote control

Signed-off-by: Takamasa Horibe <[email protected]>

* add readme

Signed-off-by: Takamasa Horibe <[email protected]>

* use pointer for return value of path

Signed-off-by: Takamasa Horibe <[email protected]>

* fix hz

Signed-off-by: Takamasa Horibe <[email protected]>

* remove debug print

Signed-off-by: Takamasa Horibe <[email protected]>

* remove shide-shift & avoidance related files

Signed-off-by: Takamasa Horibe <[email protected]>

* Clip path by goal

* add build depend for behavior tree cpp

Signed-off-by: Takamasa Horibe <[email protected]>

* temporally disable lint test in lanelet2_extension

Signed-off-by: Takamasa Horibe <[email protected]>

Co-authored-by: rej55 <[email protected]>

* Add avoidance module in behavior_path_planner (#1528)

* Revert "remove shide-shift & avoidance related files"

This reverts commit d819ea0291fca251012e4b9ffd16de3896830aa2.

* refactor findNewShiftPoint func

Signed-off-by: Takamasa Horibe <[email protected]>

* remove duplicated decleration

Signed-off-by: Takamasa Horibe <[email protected]>

* fix barkward length issue
 - add clipPathLenght func in avoidance

Signed-off-by: Takamasa Horibe <[email protected]>

* refactor:
 - translate english
 - minor modification for traffic distance

Signed-off-by: Takamasa Horibe <[email protected]>

* support debug marker in behavior_path_planner

Signed-off-by: Takamasa Horibe <[email protected]>

* clean up side shift module

Signed-off-by: Takamasa Horibe <[email protected]>

* change topic name

Signed-off-by: Takamasa Horibe <[email protected]>

* remove japanese

Signed-off-by: Takamasa Horibe <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp

Co-authored-by: Yukihiro Saito <[email protected]>

* fix typo

Signed-off-by: Takamasa Horibe <[email protected]>

* remove unused var

Signed-off-by: Takamasa Horibe <[email protected]>

* adress reviewer comments:
 - add const for variables
 - add comment
 - fix typo

Signed-off-by: Takamasa Horibe <[email protected]>

* fix typo

Signed-off-by: Takamasa Horibe <[email protected]>

Co-authored-by: Yukihiro Saito <[email protected]>

* Replace behavior_path utilities with autoware_utils (#1532)

* replace calcDistance

Signed-off-by: Takamasa Horibe <[email protected]>

* replace arange

Signed-off-by: Takamasa Horibe <[email protected]>

* replave convertToEigenPt with autoware_utils::fromMsg

Signed-off-by: Takamasa Horibe <[email protected]>

* replace normalizeRadian

Signed-off-by: Takamasa Horibe <[email protected]>

* cosmetic change

Signed-off-by: Takamasa Horibe <[email protected]>

* import #1526 into behavior path planner (#1531)

Signed-off-by: Takamasa Horibe <[email protected]>

* Fix/behavior path empty path output guard (#1536)

* add guard

Signed-off-by: Takamasa Horibe <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/behavior_path_planner.cpp

* fix lateral jerk calculation (#1549)

Signed-off-by: Takamasa Horibe <[email protected]>

* fix: error handling on exception in behavior_path_planner (#1551)

Signed-off-by: Takamasa Horibe <[email protected]>

* Fix ignore too steep avoidance path (#1550)

* ignore too steep path

Signed-off-by: Takamasa Horibe <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

* parametrize lateral jerk limit

Signed-off-by: Takamasa Horibe <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp

Co-authored-by: tkimura4 <[email protected]>

Co-authored-by: tkimura4 <[email protected]>

* use offsetNoThrow and add error log (#1615)

Signed-off-by: Takamasa Horibe <[email protected]>

* Ignore object ahead goal for avoidance (#1618)

* Ignore object ahead goal for avoidance

* Add flag

* Fix position of definition of goal_pose

* Fix arclength calculation

* Fix position of definition of goal_pose

* fix intersection stop line (#1636)

* fix intersection stop line

* fix typo

* add document (#1635)

Signed-off-by: Takamasa Horibe <[email protected]>

* Port behavior path planner to ros2

Signed-off-by: wep21 <[email protected]>

* Apply lint

Signed-off-by: wep21 <[email protected]>

* Fix typo

Signed-off-by: wep21 <[email protected]>

* Fix map qos

Signed-off-by: wep21 <[email protected]>

* debug slope calculation in behavior (#1566)

* update

* update

* revert change of autoware_utils

* define getPose in behavior_path_planner

* update

* update

* update

* update

* interpolate z in obstacle_avoidance_planner

* update velocity controller

* fix detection area and scene

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp

Co-authored-by: tkimura4 <[email protected]>

* update comment in velocity controller

* remove debug print

* update

Co-authored-by: tkimura4 <[email protected]>

* Address review: Fix config file name

Signed-off-by: wep21 <[email protected]>

* pre-commit fixes

Signed-off-by: wep21 <[email protected]>

* Fix redeclaring parameters

Signed-off-by: wep21 <[email protected]>

* Add missing tf2 geometry function

Signed-off-by: wep21 <[email protected]>

* Apply lint

Signed-off-by: wep21 <[email protected]>

* Fix rclcpp Time initialization

Signed-off-by: wep21 <[email protected]>

* Use now() instead of msg stamp

Signed-off-by: wep21 <[email protected]>

* Use throttle output in getExpandedLanelet

Signed-off-by: wep21 <[email protected]>

* Add missing const

Signed-off-by: wep21 <[email protected]>

* Fix lint

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: rej55 <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>

* Fix/generate intersection stop (#1590) (#1679)

* Fix/generate intersection stop (#1590)

* fix bug of conflicting polygons

* clean code

* Fix lint

Signed-off-by: wep21 <[email protected]>

Co-authored-by: tkimura4 <[email protected]>

* Fix/stop margin time ros2 (#1683)

* Add stop margin time in walkway and merge_from_private_area (#1613)

* Add stop margin time in walkway, merge_from_private_area

* Fix param name

* Fix bug

* Apply lint

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Fumiya Watanabe <[email protected]>

* Feature/change stop lines handling to support parking car avoidance p… (#1676)

* Feature/change stop lines handling to support parking car avoidance path (#1464)

* support parking car avoidance

* change log level

* apply clang-format

* add extendLine function

* clean up & apply clang-format

* change implementation getStopPoseFromMap()

* remove unuse comment line

Co-authored-by: satoshi-ota <[email protected]>

* fix argument order (#1580)

Co-authored-by: satoshi-ota <[email protected]>

Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>

* Feature/porting occlusion spot (#1740)

* Feature/occlusion_spot safety planner public road (#1594)

* add blind spot safety planner public road

* remove duplicated procesing

* remove unused private param

* renaming fix typo add comments

* fix spell check

* velocity -> relative velocity

* calc2d, To param, simplify search, To original

* add the num possible collision gurd

* computational cost reduction

* Cosmetic change for PossibleCollisionInfo

* add interpolation to possible collision value

* refactor codes

* fix details

* invalid point gurd

* To Param

* refacotor to occlusion spot util

* cosmetic change

* clean up blindspot

* To Occlusion Spot

* revise readme

* refactor drawing

* for better explanation

* fix velocity profile

* clean up details

* cosmetic change for debug marker

* use max velocity in obstacle info instead

* add gtest for Too Many Possible Collision case

* change case

* refactor readme

* minor fix

* add more occlusion spot explanation

* replace svg

* add gtest build path lanelet

* hotfix lateral distance and searching method

* update g test for lateral distance

* use faster search

* set more realistic param

* add lanelet subtype highway

* cosmetic change of reviews

* add occlusion spot module in private area (#1640)

* add occlusion spot in private

* For debugging change

* add spline interpolation to path

* add review changes

* adding minor change

* cosmetic change

* Vector to retval

* Blindspot To OcclusionSpot1

* To Occlusion Spot 2

* To Occlusions spot3

* update gtest with unified anchor

* remove anchor

* add test slice

* simplify interpolation

* Too Occlusion spot4

* add test buffer

* To Occlusion spot

* namespace gurd

* correct slice and add interpolation first

* handle self crossing with check for invation

* to ros debug stream

* removed unused interpolation

* add readme to plant uml

* cosmetic change

* minor change

* update readme

* review change

* change occlusion spot text color

* To Offset no Throw

* better debug marker

* catch only inversion error

* skip return in case of inversion

* for better grid

* simplify path lanelet at first

* remove std::cout

* for better path

* limit ego path inside target lanelet location

* remove last points

* cosmetic change for markers

* apply module for limited scene

* fix interpolation gurd

* for better params

* do not includes path behind

* remove dummy perception publisher

* Revert "remove dummy perception publisher"

This reverts commit 4acad985fe31dd9befaa21a16631495de6c3a117.

* replace hard coded occupancy grid option in psim

* remove respawn

* add arg to params and remove redundunt launch

* fix spell check

* fix default value

Co-authored-by: tkimura4 <[email protected]>

* Feature/occlusion spot private slice size param (#1703)

* add min slice size

* for a bit narrow lateral distance

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/config/occlusion_spot_param.yaml

Co-authored-by: Maxime CLEMENT <[email protected]>

Co-authored-by: Maxime CLEMENT <[email protected]>

* Rename files

Signed-off-by: wep21 <[email protected]>

* Porting to ros2

Signed-off-by: wep21 <[email protected]>

* pre-commit fixes

Signed-off-by: wep21 <[email protected]>

* Fix typo

Signed-off-by: wep21 <[email protected]>

* Fix launch namespace

Co-authored-by: tkimura4 <[email protected]>

* Fix parameter type

Co-authored-by: tkimura4 <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot_in_private_road.cpp

Co-authored-by: tkimura4 <[email protected]>

Co-authored-by: taikitanaka3 <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Maxime CLEMENT <[email protected]>

* fix function name and condition for detection area (#1758)

* Fix build warning for occlusion spot (#1766)

Signed-off-by: wep21 <[email protected]>

* Fix passing uninitialized index (#1792)

* Fix passing uninitialized index

Signed-off-by: wep21 <[email protected]>

* Apply uncrustify

Signed-off-by: wep21 <[email protected]>

* Fix return value

Signed-off-by: wep21 <[email protected]>

* Fix/intersection bug (#1787)

* fix insert point function

* apply format

* separate insertPoint and hasDuplicatedPoint

* clean code

* fix bug

* replace velocity if collision point is too close to original path point (#1799)

* replace velocity if collision point is too close to original path point

* fix comment

* Fix compile warnings (#1852)

Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <[email protected]>

Fix -Wunused-private-field

Signed-off-by: Kenji Miyake <[email protected]>

Fix -Wunused-lambda-capture

Signed-off-by: Kenji Miyake <[email protected]>

Fix -Wdelete-non-abstract-non-virtual-dtor

Signed-off-by: Kenji Miyake <[email protected]>

Fix -Wrange-loop-construct

Signed-off-by: Kenji Miyake <[email protected]>

Ignore lint error

Signed-off-by: Kenji Miyake <[email protected]>

* Document / behavior velocity planner (#1767)

update document

Co-authored-by: Kazuki Miyahara <[email protected]>

* fix occlusion spot insert velocity ros2 (#1821)

* Fix/occlusion spot offset (#1824)

* merge calcCollisionFunction

* ConsiderSignedOffset

* add extractRoadTargetAndSignedOffset

* apply signed offset and fix longitudinal distance

* fix unapplied param

* update gtest

* consider offset until target road

* refactor for proper variable name

* fix typo

* remove unused first index

* fix closest

* fix diff

* fix velocity and height

* tune distance thershold

* fix colcon test

* apply param at the experiment

* fix unused and param

* Fix/current acc initialize (#1899)

* use boost::optional

* null guard

* fix typo

* Feature/improve intersection detection area (#1958)

* exclude ego_lanes from detection_area

* add empty handling

* remove unused function

* Fix for uncrustify

Co-authored-by: Kenji Miyake <[email protected]>

* [behavior_velocity_planner] remove unnecessary graph search to reduce computational cost (#1980)

* remote unnecessary graph search

Signed-off-by: Takamasa Horibe <[email protected]>

* add var for graph id

Signed-off-by: Takamasa Horibe <[email protected]>

* remove unused stopline search for computational cost reduction

Signed-off-by: Takamasa Horibe <[email protected]>

* restore lane_ids iteration as it was

Signed-off-by: Takamasa Horibe <[email protected]>

* sort sidewalk slice by arc length (#1967)

* sort sidewalk slice by arc length

* handle invalid index

* divide offset to ego to closest to and closest to target

* fix cartesian distance to arc lane distance

* consider ego to target to ignore length

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/occlusion_spot/occlusion_spot_utils.cpp

Co-authored-by: tkimura4 <[email protected]>

Co-authored-by: tkimura4 <[email protected]>

* Fix/merge from private area (#2005)

* fix insert pos. of merge from private area

* exclude entrance of private road from path

* extract exit of private road

* Feature/intersection module detect obstacle (#1990)

* change the way to detect target objects in detection area

* check the angle of deteced objects

* ignore predicted path with low confidence

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp

Co-authored-by: taikitanaka3 <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp

Co-authored-by: taikitanaka3 <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/README.md

Co-authored-by: taikitanaka3 <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp

Co-authored-by: taikitanaka3 <[email protected]>

* fix format

* fix object position judge

* change function

* apply format

Co-authored-by: taikitanaka3 <[email protected]>

* occlusion spot lower min ego velocity (#2140)

Co-authored-by: taikitanaka3 <[email protected]>

* add behavior velocity planner utils (#2113)

* add gtest utils

* add state machine as utils

* add arc lane utils

* remove empty file

* add gtest for offset segment

* use calcdist2d in autoware util

* apply get point

* fix uncrustify

* fix conflict getPoint in behavior path

* apply commit suggestion

* slower than ros1

* use interpolation::slerp (#2161)

* Update traffic light state if ref stop point is ahead of previous one (#2197) (#2240)

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Daisuke Nishimatsu <[email protected]>

* Change formatter to clang-format and black (#2332)

* Revert "Temporarily comment out pre-commit hooks"

This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

* Replace ament_lint_common with autoware_lint_common

Signed-off-by: Kenji Miyake <[email protected]>

* Remove ament_cmake_uncrustify and ament_clang_format

Signed-off-by: Kenji Miyake <[email protected]>

* Apply Black

Signed-off-by: Kenji Miyake <[email protected]>

* Apply clang-format

Signed-off-by: Kenji Miyake <[email protected]>

* Fix build errors

Signed-off-by: Kenji Miyake <[email protected]>

* Fix for cpplint

* Fix include double quotes to angle brackets

Signed-off-by: Kenji Miyake <[email protected]>

* Apply clang-format

Signed-off-by: Kenji Miyake <[email protected]>

* Fix build errors

Signed-off-by: Kenji Miyake <[email protected]>

* Add COLCON_IGNORE (#500)

Signed-off-by: Kenji Miyake <[email protected]>

* rename topic name twist -> odometry (#568)

Co-authored-by: Takayuki Murooka <[email protected]>

* Auto/behavior velocity (#605)

* port except for traffic light

* fix test

* update traffic light

* fix errors

* rename traffic message: final -> result

* fix package.xml

* twist -> odometry

* use confidence

* rename topic name of dynamic objects

* remove TODOs

* deal with probabilistic test failure

* deal with probabilistic test failure2

Co-authored-by: Takayuki Murooka <[email protected]>

* Sync .auto branch with the latest branch in internal repository (#691)

* add trajectory point offset in rviz plugin (#2270)

* sync rc rc/v0.23.0 (#2258)

* fix interpolation for insert point (#2228)

* fix interpolation for insert point

* to prev interpolation pkg

* Revert "to prev interpolation pkg"

This reverts commit 9eb145b5d36e297186015fb17c267ccd5b3c21ef.

Co-authored-by: taikitanaka3 <[email protected]>
Co-authored-by: taikitanaka <[email protected]>

* fix topic name (#2266)

Signed-off-by: Takamasa Horibe <[email protected]>

* Add namespace to diag for dual_return_filter (#2269)

* Add a function to make 'geometry_msgs::msg::TransformStamped' (#2250)

* Add a function to make 'geometry_msgs::msg::TransformStamped'
* Add 'child_frame_id' as an argument of 'pose2transform'

* Simplify marker scale initialization (#2286)

* Fix/crosswalk polygon (#2279)

* extend crosswalk polygon

* improve readability

* fix polygon shape

* Add warning when decel distance calculation fails (#2289)

Signed-off-by: Makoto Kurihara <[email protected]>

* [motion_velocity_smoother] ignore debug print (#2292)

* cosmetic change

Signed-off-by: Takamasa Horibe <[email protected]>

* cahnge severity from WARN to DEBUG for debug info

Signed-off-by: Takamasa Horibe <[email protected]>

* use util for stop_watch

Signed-off-by: Takamasa Horibe <[email protected]>

* fix map based prediction (#2200)

* fix map based prediction

* fix format

* change map based prediction

* fix spells

* fix spells in comments

* fix for cpplint

* fix some problems

* fix format and code for clang-tidy

* fix space for cpplint

* Update Readme.md

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

* fix vector access method

* fix readme format

* add parameter

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

Co-authored-by: Kazuki Miyahara <[email protected]>

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

Co-authored-by: Kazuki Miyahara <kmiya@out…
h-ohta referenced this pull request in h-ohta/autoware.universe Apr 26, 2022
@wep21 @takayuki5168
@1222-takeshi @kenji-miyake @taikitanaka3
fix: fix angle diff calculation of mission_planner (#772) (#152)
5602a57 
Signed-off-by: wep21 <[email protected]>

Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: Takeshi Miura <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: taikitanaka3 <[email protected]>
@tkimura4
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Could you fix the title of commit and pr not to use uppercase letters?

@takayuki5168 takayuki5168 changed the title feat(obstacle_stop_planner): Removed default parameters feat(obstacle_stop_planner): removed default parameters May 10, 2022
@takayuki5168 takayuki5168 deleted the feature/remove-default-parameters-in-obstacle-stop branch June 28, 2022 05:45
kyoichi-sugahara pushed a commit to kyoichi-sugahara/autoware.universe that referenced this pull request Sep 5, 2023
@tkimura4
Merge pull request autowarefoundation#772 from tier4/add-glog
b1f3860 
feat(launch): enable glog to print stack trace autonatically when the process die in planning/control modules
ryuichi-maeda pushed a commit to sensefield/autoware.universe that referenced this pull request Jan 10, 2025
@dkoldaev
fix: ansible pre-commit (autowarefoundation#772)
61f94de 
* fix: ansible pre-commit

* add forgotten fiel

---------

Co-authored-by: Dmitrii Koldaev <[email protected]>
iwatake2222 pushed a commit to iwatake2222/autoware.universe that referenced this pull request Jan 17, 2025
@amadeuszsz
feat(ekf_localizer): add publish_tf arg (autowarefoundation#772)
d074e0e 
Signed-off-by: amadeuszsz <[email protected]>
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@takayuki5168 @tkimura4